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Update world_magnetic_model to latest Tue Nov 28 11:14:14 UTC 2023
Co-authored-by: PX4 BuildBot <bot@px4.io>
This commit is contained in:
Daniel Agar
GitHub
@@ -47,57 +47,57 @@ static constexpr int LON_DIM = 37;
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// Magnetic declination data in radians * 10^-4
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// Model: WMM-2020,
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// Version: 0.5.1.11,
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// Date: 2023.6083,
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// Date: 2023.9069,
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static constexpr const int16_t declination_table[19][37] {
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// LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180,
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/* LAT: -90 */ { 25960, 24215, 22470, 20724, 18979, 17233, 15488, 13743, 11998, 10252, 8507, 6762, 5016, 3271, 1526, -219, -1965, -3710, -5455, -7201, -8946,-10691,-12436,-14182,-15927,-17672,-19418,-21163,-22909,-24654,-26399,-28145,-29890, 31196, 29451, 27706, 25960, },
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/* LAT: -80 */ { 22524, 20396, 18458, 16686, 15047, 13510, 12046, 10636, 9261, 7912, 6580, 5262, 3953, 2648, 1340, 20, -1322, -2696, -4107, -5561, -7058, -8596,-10176,-11796,-13462,-15182,-16969,-18843,-20828,-22948,-25223,-27658,-30226, 29968, 27353, 24851, 22524, },
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/* LAT: -70 */ { 14984, 13584, 12456, 11491, 10620, 9786, 8942, 8053, 7100, 6080, 5010, 3917, 2834, 1780, 760, -250, -1288, -2397, -3602, -4906, -6291, -7725, -9176,-10620,-12048,-13465,-14895,-16384,-18013,-19935,-22470,-26290, 30623, 24105, 19619, 16855, 14984, }, // WARNING! black out zone
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/* LAT: -60 */ { 8447, 8196, 7910, 7631, 7373, 7115, 6804, 6368, 5750, 4928, 3926, 2814, 1697, 674, -202, -955, -1683, -2509, -3521, -4728, -6067, -7442, -8766, -9977,-11041,-11938,-12652,-13146,-13318,-12869,-10759, -3420, 5009, 7718, 8471, 8588, 8447, }, // WARNING! black out zone
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/* LAT: -50 */ { 5505, 5539, 5480, 5387, 5309, 5269, 5231, 5101, 4754, 4087, 3073, 1799, 460, -712, -1571, -2123, -2513, -2956, -3654, -4686, -5945, -7230, -8373, -9272, -9864,-10094, -9891, -9124, -7608, -5240, -2330, 419, 2529, 3955, 4829, 5303, 5505, },
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/* LAT: -40 */ { 3969, 4061, 4066, 4018, 3954, 3917, 3920, 3907, 3731, 3191, 2161, 714, -848, -2152, -2999, -3436, -3607, -3661, -3840, -4436, -5440, -6527, -7410, -7939, -8033, -7641, -6738, -5348, -3640, -1945, -490, 730, 1775, 2645, 3305, 3737, 3969, },
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/* LAT: -30 */ { 2996, 3082, 3108, 3090, 3027, 2946, 2884, 2849, 2720, 2236, 1191, -337, -1942, -3184, -3907, -4238, -4303, -4077, -3640, -3446, -3847, -4610, -5303, -5639, -5497, -4896, -3928, -2724, -1526, -591, 80, 679, 1306, 1914, 2429, 2795, 2996, },
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/* LAT: -20 */ { 2353, 2398, 2412, 2409, 2362, 2264, 2154, 2076, 1930, 1429, 361, -1137, -2613, -3659, -4174, -4274, -4056, -3481, -2614, -1835, -1590, -1966, -2618, -3076, -3099, -2729, -2088, -1276, -510, -31, 225, 524, 969, 1455, 1884, 2197, 2353, },
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/* LAT: -10 */ { 1960, 1953, 1927, 1918, 1886, 1797, 1683, 1589, 1404, 849, -223, -1606, -2873, -3686, -3932, -3687, -3100, -2313, -1469, -723, -274, -324, -804, -1306, -1510, -1413, -1097, -601, -112, 120, 161, 318, 694, 1141, 1542, 1836, 1960, },
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/* LAT: 0 */ { 1746, 1712, 1651, 1638, 1622, 1549, 1438, 1320, 1065, 441, -604, -1833, -2878, -3448, -3427, -2912, -2139, -1359, -712, -180, 227, 327, 38, -379, -628, -681, -583, -324, -40, 41, -28, 57, 404, 856, 1285, 1612, 1746, },
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/* LAT: 10 */ { 1607, 1614, 1568, 1580, 1602, 1548, 1421, 1229, 852, 134, -888, -1961, -2778, -3102, -2882, -2266, -1488, -780, -271, 107, 430, 572, 402, 79, -152, -259, -286, -210, -111, -158, -305, -281, 25, 489, 979, 1393, 1607, },
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/* LAT: 20 */ { 1417, 1565, 1623, 1713, 1796, 1772, 1612, 1305, 760, -95, -1135, -2080, -2666, -2762, -2424, -1817, -1106, -460, -4, 302, 559, 700, 604, 360, 163, 43, -54, -125, -211, -405, -647, -707, -468, -13, 534, 1057, 1417, },
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/* LAT: 30 */ { 1107, 1473, 1732, 1955, 2114, 2122, 1931, 1506, 778, -247, -1359, -2226, -2630, -2559, -2155, -1573, -917, -302, 157, 459, 688, 831, 806, 656, 508, 382, 218, -2, -292, -670, -1041, -1200, -1036, -605, -25, 586, 1107, },
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/* LAT: 40 */ { 739, 1324, 1819, 2212, 2462, 2506, 2290, 1756, 847, -375, -1602, -2457, -2769, -2612, -2163, -1570, -917, -288, 218, 580, 848, 1042, 1132, 1119, 1043, 892, 615, 193, -355, -965, -1485, -1725, -1605, -1186, -587, 82, 739, },
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/* LAT: 50 */ { 436, 1181, 1863, 2424, 2794, 2903, 2677, 2026, 892, -593, -2001, -2904, -3192, -2999, -2508, -1862, -1153, -456, 157, 660, 1076, 1427, 1703, 1870, 1886, 1693, 1237, 514, -390, -1294, -1967, -2247, -2118, -1678, -1047, -322, 436, },
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/* LAT: 60 */ { 222, 1071, 1877, 2577, 3088, 3309, 3103, 2305, 811, -1123, -2820, -3793, -4046, -3788, -3218, -2475, -1651, -813, -8, 741, 1431, 2059, 2598, 2988, 3141, 2943, 2288, 1153, -273, -1591, -2449, -2750, -2583, -2093, -1409, -619, 222, },
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/* LAT: 70 */ { -47, 883, 1779, 2581, 3202, 3508, 3276, 2184, 17, -2630, -4567, -5406, -5432, -4962, -4202, -3275, -2256, -1194, -123, 934, 1957, 2920, 3785, 4488, 4927, 4947, 4315, 2811, 591, -1519, -2807, -3244, -3086, -2561, -1823, -964, -47, }, // WARNING! black out zone
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/* LAT: 80 */ { -864, 55, 904, 1595, 1987, 1837, 743, -1642, -4648, -6750, -7562, -7492, -6908, -6022, -4952, -3769, -2514, -1217, 102, 1425, 2737, 4018, 5245, 6384, 7382, 8144, 8486, 8024, 6018, 2070, -1618, -3319, -3658, -3315, -2633, -1784, -864, }, // WARNING! black out zone
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/* LAT: 90 */ { -29433,-27688,-25942,-24197,-22451,-20706,-18961,-17215,-15470,-13725,-11980,-10234, -8489, -6744, -4999, -3254, -1509, 236, 1982, 3727, 5472, 7217, 8962, 10708, 12453, 14199, 15944, 17689, 19435, 21180, 22926, 24671, 26417, 28162, 29908,-31178,-29433, }, // WARNING! black out zone
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/* LAT: -90 */ { 25953, 24208, 22462, 20717, 18972, 17226, 15481, 13736, 11990, 10245, 8500, 6754, 5009, 3264, 1518, -227, -1972, -3718, -5463, -7208, -8954,-10699,-12444,-14190,-15935,-17680,-19426,-21171,-22916,-24662,-26407,-28152,-29898, 31189, 29444, 27698, 25953, },
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/* LAT: -80 */ { 22516, 20389, 18452, 16680, 15042, 13504, 12042, 10631, 9257, 7907, 6576, 5258, 3949, 2644, 1336, 16, -1327, -2701, -4113, -5567, -7065, -8604,-10184,-11805,-13471,-15192,-16979,-18854,-20839,-22959,-25235,-27671,-30239, 29956, 27342, 24841, 22516, },
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/* LAT: -70 */ { 14986, 13586, 12457, 11491, 10619, 9784, 8940, 8051, 7097, 6077, 5007, 3915, 2831, 1778, 758, -252, -1290, -2400, -3606, -4912, -6298, -7733, -9184,-10629,-12057,-13475,-14906,-16396,-18026,-19951,-22491,-26317, 30596, 24094, 19618, 16857, 14986, }, // WARNING! black out zone
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/* LAT: -60 */ { 8455, 8203, 7915, 7634, 7375, 7116, 6804, 6367, 5748, 4925, 3922, 2811, 1694, 672, -201, -953, -1681, -2509, -3523, -4732, -6074, -7451, -8776, -9987,-11050,-11947,-12660,-13154,-13325,-12877,-10764, -3395, 5040, 7737, 8485, 8599, 8455, }, // WARNING! black out zone
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/* LAT: -50 */ { 5512, 5546, 5485, 5390, 5311, 5270, 5232, 5101, 4753, 4084, 3068, 1793, 456, -714, -1569, -2118, -2507, -2951, -3652, -4689, -5952, -7240, -8384, -9281, -9871,-10099, -9892, -9123, -7604, -5234, -2324, 426, 2537, 3962, 4837, 5310, 5512, },
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/* LAT: -40 */ { 3974, 4066, 4070, 4020, 3955, 3918, 3920, 3906, 3728, 3187, 2154, 706, -855, -2156, -2999, -3431, -3598, -3651, -3833, -4437, -5448, -6538, -7420, -7947, -8037, -7640, -6733, -5342, -3635, -1941, -488, 731, 1778, 2648, 3309, 3742, 3974, },
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/* LAT: -30 */ { 3000, 3086, 3111, 3091, 3028, 2945, 2882, 2846, 2717, 2232, 1183, -347, -1952, -3190, -3909, -4235, -4296, -4065, -3627, -3441, -3852, -4620, -5311, -5643, -5497, -4891, -3921, -2717, -1522, -591, 80, 678, 1305, 1916, 2432, 2798, 3000, },
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/* LAT: -20 */ { 2357, 2402, 2414, 2409, 2361, 2263, 2151, 2072, 1926, 1423, 352, -1149, -2623, -3666, -4175, -4270, -4047, -3469, -2600, -1825, -1589, -1972, -2624, -3079, -3098, -2725, -2083, -1271, -509, -32, 222, 521, 967, 1455, 1886, 2200, 2357, },
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/* LAT: -10 */ { 1964, 1957, 1929, 1919, 1885, 1795, 1679, 1585, 1399, 842, -232, -1617, -2882, -3691, -3931, -3680, -3090, -2301, -1457, -714, -269, -325, -807, -1309, -1510, -1410, -1093, -598, -111, 119, 158, 313, 690, 1140, 1544, 1840, 1964, },
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/* LAT: 0 */ { 1750, 1715, 1654, 1638, 1621, 1546, 1434, 1314, 1059, 434, -613, -1842, -2885, -3449, -3422, -2903, -2129, -1350, -704, -173, 232, 329, 37, -380, -628, -680, -581, -323, -40, 39, -32, 52, 400, 855, 1286, 1615, 1750, },
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/* LAT: 10 */ { 1611, 1617, 1570, 1581, 1601, 1546, 1416, 1223, 846, 127, -895, -1968, -2781, -3100, -2876, -2257, -1478, -772, -264, 113, 435, 575, 403, 80, -150, -258, -285, -210, -112, -162, -310, -287, 21, 488, 979, 1395, 1611, },
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/* LAT: 20 */ { 1419, 1567, 1624, 1712, 1795, 1769, 1607, 1299, 754, -101, -1141, -2084, -2666, -2759, -2417, -1808, -1097, -452, 2, 307, 564, 704, 606, 362, 165, 45, -53, -126, -213, -409, -652, -712, -472, -15, 534, 1058, 1419, },
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/* LAT: 30 */ { 1106, 1472, 1731, 1953, 2111, 2119, 1927, 1501, 773, -253, -1362, -2226, -2627, -2553, -2147, -1564, -908, -294, 163, 465, 693, 835, 809, 658, 511, 384, 218, -4, -295, -675, -1046, -1205, -1040, -607, -27, 584, 1106, },
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/* LAT: 40 */ { 735, 1320, 1815, 2208, 2458, 2502, 2285, 1751, 842, -378, -1603, -2454, -2763, -2604, -2154, -1561, -907, -279, 226, 587, 854, 1047, 1135, 1122, 1045, 894, 615, 190, -360, -970, -1490, -1730, -1608, -1188, -590, 79, 735, },
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/* LAT: 50 */ { 429, 1173, 1855, 2417, 2788, 2898, 2672, 2021, 888, -593, -1996, -2896, -3182, -2988, -2497, -1851, -1141, -446, 167, 669, 1083, 1434, 1708, 1874, 1889, 1694, 1236, 510, -397, -1301, -1973, -2251, -2121, -1681, -1052, -328, 429, },
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/* LAT: 60 */ { 209, 1057, 1864, 2565, 3078, 3300, 3097, 2301, 812, -1115, -2807, -3777, -4029, -3772, -3203, -2461, -1637, -800, 5, 753, 1442, 2068, 2606, 2995, 3146, 2945, 2285, 1145, -284, -1600, -2456, -2754, -2586, -2098, -1417, -629, 209, },
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/* LAT: 70 */ { -69, 860, 1756, 2558, 3181, 3489, 3263, 2180, 31, -2600, -4532, -5373, -5403, -4936, -4179, -3254, -2237, -1176, -106, 950, 1972, 2934, 3798, 4499, 4936, 4952, 4314, 2801, 575, -1536, -2820, -3255, -3097, -2575, -1839, -984, -69, }, // WARNING! black out zone
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/* LAT: 80 */ { -916, 2, 851, 1542, 1936, 1794, 725, -1608, -4565, -6661, -7486, -7430, -6856, -5978, -4914, -3735, -2483, -1188, 129, 1451, 2762, 4042, 5269, 6408, 7407, 8169, 8510, 8042, 6014, 2018, -1692, -3385, -3716, -3369, -2685, -1835, -916, }, // WARNING! black out zone
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/* LAT: 90 */ { -29318,-27573,-25827,-24082,-22337,-20591,-18846,-17101,-15355,-13610,-11865,-10119, -8374, -6629, -4883, -3138, -1393, 353, 2098, 3843, 5588, 7334, 9079, 10824, 12570, 14315, 16060, 17806, 19551, 21296, 23042, 24787, 26532, 28278, 30023,-31063,-29318, }, // WARNING! black out zone
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};
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static constexpr float WMM_DECLINATION_MIN_RAD = -3.118; // latitude: 90, longitude: 170
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static constexpr float WMM_DECLINATION_MAX_RAD = 3.120; // latitude: -90, longitude: 150
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static constexpr float WMM_DECLINATION_MIN_RAD = -3.106; // latitude: 90, longitude: 170
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static constexpr float WMM_DECLINATION_MAX_RAD = 3.119; // latitude: -90, longitude: 150
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// Magnetic inclination data in radians * 10^-4
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// Model: WMM-2020,
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// Version: 0.5.1.11,
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// Date: 2023.6083,
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// Date: 2023.9069,
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static constexpr const int16_t inclination_table[19][37] {
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// LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180,
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/* LAT: -90 */ { -12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565, },
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/* LAT: -80 */ { -13648,-13514,-13353,-13173,-12979,-12778,-12574,-12374,-12184,-12008,-11852,-11718,-11608,-11521,-11458,-11416,-11396,-11399,-11426,-11480,-11564,-11678,-11824,-11997,-12196,-12413,-12643,-12876,-13104,-13316,-13502,-13652,-13755,-13805,-13801,-13747,-13648, },
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/* LAT: -70 */ { -14095,-13776,-13457,-13134,-12803,-12459,-12105,-11749,-11406,-11099,-10848,-10665,-10554,-10502,-10487,-10489,-10494,-10502,-10524,-10580,-10688,-10864,-11112,-11428,-11802,-12221,-12670,-13134,-13600,-14052,-14469,-14812,-14997,-14941,-14709,-14411,-14095, }, // WARNING! black out zone
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/* LAT: -60 */ { -13512,-13158,-12819,-12486,-12143,-11771,-11356,-10902,-10436,-10007, -9680, -9508, -9508, -9646, -9849,-10038,-10158,-10196,-10179,-10163,-10211,-10372,-10666,-11078,-11580,-12137,-12725,-13321,-13910,-14471,-14968,-15257,-15076,-14688,-14281,-13886,-13512, }, // WARNING! black out zone
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/* LAT: -50 */ { -12493,-12150,-11818,-11495,-11172,-10826,-10427, -9956, -9428, -8909, -8524, -8405, -8612, -9076, -9639,-10145,-10496,-10649,-10609,-10451,-10309,-10320,-10549,-10972,-11519,-12113,-12699,-13236,-13681,-13978,-14084,-14011,-13807,-13523,-13193,-12844,-12493, },
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/* LAT: -40 */ { -11239,-10889,-10540,-10194, -9854, -9517, -9157, -8733, -8213, -7651, -7232, -7201, -7672, -8502, -9422,-10245,-10896,-11319,-11444,-11263,-10915,-10649,-10653,-10944,-11412,-11917,-12360,-12677,-12833,-12837,-12748,-12612,-12434,-12203,-11916,-11587,-11239, },
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/* LAT: -30 */ { -9602, -9220, -8837, -8446, -8054, -7680, -7325, -6937, -6426, -5816, -5373, -5474, -6262, -7473, -8722, -9810,-10716,-11414,-11796,-11768,-11384,-10876,-10552,-10563,-10821,-11143,-11395,-11502,-11436,-11261,-11089,-10959,-10817,-10611,-10330, -9983, -9602, },
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/* LAT: -20 */ { -7373, -6926, -6504, -6073, -5629, -5201, -4813, -4405, -3842, -3159, -2723, -3009, -4145, -5770, -7395, -8751, -9803,-10564,-10985,-11002,-10624,-10004, -9450, -9215, -9271, -9434, -9572, -9584, -9408, -9137, -8948, -8869, -8772, -8568, -8252, -7837, -7373, },
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/* LAT: -10 */ { -4418, -3872, -3412, -2971, -2514, -2065, -1655, -1208, -588, 110, 456, 1, -1358, -3291, -5260, -6848, -7922, -8538, -8787, -8710, -8286, -7591, -6929, -6592, -6557, -6651, -6765, -6785, -6595, -6300, -6153, -6175, -6147, -5936, -5552, -5020, -4418, },
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/* LAT: 0 */ { -911, -276, 198, 604, 1023, 1439, 1825, 2259, 2833, 3402, 3589, 3068, 1745, -183, -2221, -3848, -4830, -5238, -5283, -5101, -4647, -3920, -3215, -2851, -2793, -2860, -2983, -3054, -2923, -2690, -2645, -2805, -2883, -2704, -2279, -1644, -911, },
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/* LAT: 10 */ { 2557, 3194, 3635, 3980, 4336, 4702, 5049, 5427, 5869, 6230, 6253, 5746, 4643, 3064, 1376, 20, -760, -988, -885, -641, -219, 429, 1062, 1394, 1458, 1418, 1320, 1229, 1271, 1371, 1286, 1003, 795, 860, 1213, 1821, 2557, },
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/* LAT: 20 */ { 5413, 5949, 6333, 6631, 6945, 7287, 7627, 7967, 8292, 8485, 8388, 7913, 7065, 5962, 4840, 3943, 3431, 3327, 3487, 3736, 4073, 4544, 5005, 5258, 5317, 5305, 5259, 5201, 5187, 5164, 4983, 4639, 4330, 4235, 4408, 4835, 5413, },
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/* LAT: 30 */ { 7568, 7944, 8264, 8548, 8857, 9203, 9558, 9894, 10165, 10272, 10121, 9692, 9058, 8346, 7688, 7184, 6902, 6870, 7019, 7234, 7485, 7788, 8078, 8251, 8310, 8327, 8332, 8322, 8297, 8210, 7983, 7623, 7262, 7039, 7023, 7220, 7568, },
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/* LAT: 40 */ { 9266, 9487, 9744, 10029, 10355, 10715, 11081, 11416, 11664, 11742, 11588, 11225, 10751, 10279, 9886, 9608, 9464, 9466, 9581, 9746, 9924, 10110, 10283, 10408, 10487, 10550, 10608, 10641, 10622, 10508, 10262, 9908, 9538, 9252, 9109, 9122, 9266, },
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/* LAT: 50 */ { 10802, 10923, 11123, 11392, 11714, 12067, 12419, 12733, 12952, 13009, 12868, 12570, 12206, 11863, 11590, 11407, 11317, 11317, 11387, 11493, 11609, 11726, 11843, 11960, 12079, 12203, 12318, 12390, 12378, 12250, 12001, 11671, 11331, 11046, 10856, 10776, 10802, },
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/* LAT: 60 */ { 12320, 12391, 12539, 12756, 13024, 13323, 13623, 13888, 14063, 14090, 13955, 13707, 13420, 13150, 12931, 12777, 12688, 12659, 12677, 12726, 12796, 12883, 12990, 13123, 13283, 13460, 13625, 13733, 13736, 13613, 13386, 13107, 12829, 12592, 12422, 12330, 12320, },
|
||||
/* LAT: 70 */ { 13757, 13798, 13891, 14030, 14208, 14409, 14616, 14796, 14901, 14884, 14751, 14552, 14336, 14133, 13960, 13826, 13733, 13680, 13662, 13675, 13719, 13792, 13896, 14034, 14201, 14389, 14573, 14712, 14756, 14682, 14519, 14321, 14126, 13962, 13841, 13772, 13757, }, // WARNING! black out zone
|
||||
/* LAT: 80 */ { 14993, 15004, 15039, 15097, 15171, 15255, 15332, 15378, 15364, 15290, 15181, 15059, 14938, 14825, 14726, 14644, 14583, 14542, 14524, 14529, 14556, 14605, 14677, 14771, 14883, 15010, 15146, 15279, 15386, 15429, 15387, 15298, 15201, 15115, 15049, 15008, 14993, }, // WARNING! black out zone
|
||||
/* LAT: -90 */ { -12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563,-12563, },
|
||||
/* LAT: -80 */ { -13645,-13511,-13351,-13170,-12977,-12775,-12572,-12372,-12182,-12006,-11850,-11716,-11606,-11520,-11456,-11415,-11394,-11397,-11424,-11478,-11562,-11677,-11822,-11996,-12195,-12412,-12642,-12875,-13103,-13315,-13501,-13650,-13753,-13803,-13799,-13744,-13645, },
|
||||
/* LAT: -70 */ { -14092,-13773,-13454,-13132,-12800,-12457,-12103,-11747,-11405,-11098,-10847,-10665,-10554,-10501,-10487,-10489,-10493,-10500,-10522,-10577,-10686,-10862,-11110,-11427,-11802,-12221,-12670,-13135,-13601,-14053,-14469,-14811,-14996,-14938,-14707,-14408,-14092, }, // WARNING! black out zone
|
||||
/* LAT: -60 */ { -13510,-13156,-12817,-12484,-12141,-11769,-11354,-10901,-10434,-10007, -9680, -9509, -9510, -9648, -9852,-10039,-10158,-10194,-10176,-10159,-10207,-10370,-10664,-11078,-11580,-12139,-12726,-13323,-13912,-14473,-14970,-15258,-15076,-14688,-14280,-13885,-13510, }, // WARNING! black out zone
|
||||
/* LAT: -50 */ { -12492,-12149,-11817,-11494,-11171,-10824,-10425, -9955, -9427, -8909, -8525, -8408, -8617, -9083, -9645,-10150,-10498,-10648,-10606,-10446,-10304,-10317,-10548,-10973,-11521,-12116,-12702,-13238,-13682,-13979,-14085,-14011,-13807,-13523,-13193,-12844,-12492, },
|
||||
/* LAT: -40 */ { -11239,-10888,-10538,-10192, -9853, -9515, -9156, -8732, -8213, -7651, -7234, -7207, -7681, -8512, -9432,-10254,-10902,-11322,-11443,-11258,-10909,-10644,-10651,-10945,-11414,-11920,-12362,-12678,-12833,-12837,-12748,-12612,-12435,-12204,-11917,-11588,-11239, },
|
||||
/* LAT: -30 */ { -9603, -9219, -8836, -8444, -8052, -7678, -7324, -6937, -6425, -5817, -5376, -5482, -6275, -7489, -8738, -9824,-10727,-11422,-11800,-11766,-11379,-10871,-10549,-10564,-10823,-11145,-11396,-11502,-11435,-11259,-11088,-10959,-10818,-10613,-10332, -9984, -9603, },
|
||||
/* LAT: -20 */ { -7374, -6925, -6501, -6070, -5626, -5198, -4811, -4404, -3842, -3160, -2727, -3019, -4164, -5792, -7415, -8768, -9816,-10573,-10990,-11002,-10620, -9998, -9445, -9213, -9270, -9434, -9570, -9581, -9405, -9134, -8946, -8869, -8774, -8571, -8255, -7839, -7374, },
|
||||
/* LAT: -10 */ { -4419, -3870, -3407, -2966, -2508, -2060, -1651, -1206, -588, 108, 451, -12, -1379, -3316, -5284, -6867, -7935, -8545, -8791, -8710, -8282, -7584, -6922, -6587, -6555, -6648, -6762, -6780, -6589, -6296, -6150, -6175, -6150, -5940, -5557, -5024, -4419, },
|
||||
/* LAT: 0 */ { -912, -273, 202, 610, 1029, 1445, 1829, 2261, 2833, 3399, 3582, 3054, 1724, -208, -2246, -3866, -4841, -5244, -5285, -5101, -4643, -3913, -3208, -2846, -2789, -2855, -2977, -3047, -2916, -2684, -2641, -2805, -2887, -2710, -2285, -1648, -912, },
|
||||
/* LAT: 10 */ { 2555, 3196, 3640, 3985, 4341, 4707, 5054, 5429, 5868, 6226, 6246, 5734, 4626, 3043, 1356, 5, -769, -992, -886, -640, -215, 435, 1068, 1399, 1463, 1425, 1327, 1236, 1278, 1377, 1289, 1003, 791, 854, 1208, 1817, 2555, },
|
||||
/* LAT: 20 */ { 5412, 5950, 6336, 6634, 6949, 7291, 7629, 7968, 8291, 8481, 8381, 7903, 7052, 5947, 4826, 3932, 3424, 3324, 3486, 3737, 4075, 4548, 5009, 5262, 5322, 5311, 5266, 5208, 5193, 5169, 4986, 4639, 4327, 4231, 4404, 4833, 5412, },
|
||||
/* LAT: 30 */ { 7567, 7945, 8265, 8550, 8859, 9205, 9559, 9894, 10163, 10268, 10115, 9685, 9049, 8336, 7680, 7178, 6898, 6868, 7019, 7235, 7487, 7791, 8081, 8254, 8313, 8332, 8337, 8327, 8301, 8214, 7985, 7624, 7261, 7037, 7021, 7219, 7567, },
|
||||
/* LAT: 40 */ { 9266, 9487, 9744, 10030, 10356, 10715, 11080, 11415, 11661, 11738, 11583, 11219, 10745, 10273, 9881, 9603, 9461, 9464, 9581, 9747, 9925, 10113, 10286, 10411, 10490, 10554, 10612, 10646, 10626, 10511, 10264, 9909, 9538, 9251, 9109, 9122, 9266, },
|
||||
/* LAT: 50 */ { 10802, 10922, 11123, 11392, 11713, 12065, 12417, 12730, 12949, 13005, 12863, 12565, 12202, 11859, 11587, 11404, 11316, 11317, 11387, 11494, 11610, 11728, 11846, 11962, 12082, 12206, 12322, 12394, 12381, 12252, 12002, 11672, 11331, 11046, 10857, 10776, 10802, },
|
||||
/* LAT: 60 */ { 12320, 12391, 12539, 12754, 13022, 13320, 13621, 13885, 14059, 14086, 13951, 13704, 13417, 13148, 12930, 12776, 12688, 12659, 12678, 12727, 12797, 12884, 12992, 13125, 13286, 13463, 13628, 13735, 13737, 13614, 13387, 13107, 12829, 12593, 12423, 12331, 12320, },
|
||||
/* LAT: 70 */ { 13757, 13797, 13889, 14028, 14205, 14406, 14612, 14792, 14897, 14881, 14748, 14550, 14334, 14132, 13960, 13826, 13733, 13680, 13662, 13676, 13720, 13793, 13898, 14036, 14204, 14392, 14576, 14715, 14758, 14682, 14520, 14321, 14127, 13962, 13842, 13772, 13757, }, // WARNING! black out zone
|
||||
/* LAT: 80 */ { 14991, 15002, 15037, 15094, 15168, 15251, 15328, 15373, 15361, 15288, 15180, 15059, 14938, 14825, 14727, 14645, 14584, 14543, 14525, 14530, 14557, 14607, 14679, 14773, 14885, 15012, 15148, 15281, 15389, 15431, 15388, 15298, 15201, 15115, 15049, 15007, 14991, }, // WARNING! black out zone
|
||||
/* LAT: 90 */ { 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, }, // WARNING! black out zone
|
||||
};
|
||||
static constexpr float WMM_INCLINATION_MIN_RAD = -1.526; // latitude: -60, longitude: 130
|
||||
@@ -107,28 +107,28 @@ static constexpr float WMM_INCLINATION_MAX_RAD = 1.543; // latitude: 80, longitu
|
||||
// Magnetic strength data in milli-Gauss * 10
|
||||
// Model: WMM-2020,
|
||||
// Version: 0.5.1.11,
|
||||
// Date: 2023.6083,
|
||||
// Date: 2023.9069,
|
||||
static constexpr const int16_t strength_table[19][37] {
|
||||
// LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180,
|
||||
/* LAT: -90 */ { 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, },
|
||||
/* LAT: -80 */ { 6052, 5987, 5908, 5816, 5712, 5600, 5482, 5360, 5238, 5118, 5004, 4899, 4805, 4726, 4663, 4619, 4595, 4593, 4615, 4661, 4732, 4827, 4942, 5074, 5218, 5368, 5518, 5661, 5792, 5906, 5998, 6067, 6111, 6130, 6125, 6098, 6052, },
|
||||
/* LAT: -70 */ { 6296, 6162, 6011, 5845, 5666, 5473, 5268, 5053, 4834, 4619, 4417, 4235, 4078, 3947, 3843, 3767, 3721, 3709, 3738, 3815, 3944, 4125, 4355, 4623, 4919, 5227, 5530, 5814, 6064, 6267, 6418, 6513, 6554, 6545, 6495, 6409, 6296, },
|
||||
/* LAT: -60 */ { 6182, 5988, 5786, 5576, 5356, 5121, 4864, 4586, 4294, 4005, 3738, 3512, 3333, 3200, 3101, 3028, 2977, 2957, 2984, 3075, 3246, 3499, 3828, 4215, 4638, 5073, 5494, 5878, 6202, 6450, 6612, 6690, 6691, 6627, 6512, 6360, 6182, },
|
||||
/* LAT: -50 */ { 5840, 5609, 5376, 5144, 4911, 4665, 4394, 4091, 3762, 3431, 3130, 2891, 2731, 2641, 2592, 2557, 2523, 2496, 2501, 2575, 2751, 3044, 3444, 3917, 4425, 4931, 5405, 5823, 6161, 6402, 6539, 6578, 6535, 6423, 6260, 6061, 5840, },
|
||||
/* LAT: -40 */ { 5390, 5144, 4898, 4657, 4422, 4184, 3929, 3645, 3331, 3005, 2707, 2486, 2370, 2346, 2365, 2385, 2388, 2374, 2361, 2391, 2524, 2805, 3227, 3744, 4292, 4815, 5280, 5667, 5958, 6144, 6232, 6234, 6163, 6031, 5849, 5630, 5390, },
|
||||
/* LAT: -30 */ { 4877, 4635, 4395, 4159, 3933, 3713, 3494, 3263, 3007, 2731, 2474, 2293, 2225, 2251, 2318, 2388, 2452, 2501, 2520, 2532, 2602, 2807, 3175, 3667, 4199, 4695, 5111, 5425, 5626, 5725, 5751, 5724, 5644, 5511, 5331, 5114, 4877, },
|
||||
/* LAT: -20 */ { 4320, 4106, 3896, 3691, 3494, 3312, 3143, 2979, 2801, 2602, 2411, 2279, 2240, 2286, 2376, 2487, 2614, 2740, 2826, 2859, 2885, 2986, 3232, 3620, 4072, 4498, 4844, 5075, 5179, 5186, 5155, 5108, 5026, 4898, 4731, 4534, 4320, },
|
||||
/* LAT: -10 */ { 3790, 3628, 3474, 3327, 3191, 3071, 2967, 2874, 2776, 2660, 2538, 2440, 2397, 2424, 2513, 2642, 2798, 2955, 3076, 3136, 3150, 3178, 3306, 3562, 3891, 4212, 4475, 4635, 4668, 4615, 4548, 4485, 4397, 4272, 4123, 3958, 3790, },
|
||||
/* LAT: 0 */ { 3412, 3318, 3233, 3160, 3104, 3066, 3039, 3019, 2993, 2944, 2865, 2771, 2693, 2665, 2709, 2814, 2946, 3081, 3194, 3268, 3298, 3321, 3398, 3558, 3769, 3983, 4162, 4266, 4271, 4203, 4114, 4022, 3911, 3780, 3645, 3520, 3412, },
|
||||
/* LAT: 10 */ { 3282, 3251, 3230, 3225, 3249, 3296, 3350, 3402, 3436, 3425, 3356, 3242, 3116, 3024, 3001, 3044, 3126, 3224, 3324, 3409, 3472, 3535, 3625, 3744, 3881, 4021, 4140, 4209, 4210, 4148, 4037, 3894, 3732, 3572, 3436, 3339, 3282, },
|
||||
/* LAT: 20 */ { 3399, 3401, 3426, 3479, 3570, 3690, 3818, 3934, 4013, 4025, 3951, 3810, 3644, 3507, 3434, 3424, 3460, 3534, 3631, 3729, 3820, 3919, 4031, 4143, 4253, 4365, 4468, 4534, 4543, 4483, 4345, 4142, 3914, 3704, 3540, 3439, 3399, },
|
||||
/* LAT: 30 */ { 3722, 3727, 3780, 3878, 4020, 4190, 4365, 4520, 4627, 4653, 4580, 4426, 4238, 4076, 3974, 3929, 3935, 3987, 4075, 4174, 4272, 4379, 4496, 4614, 4734, 4862, 4983, 5070, 5094, 5035, 4878, 4637, 4362, 4108, 3908, 3778, 3722, },
|
||||
/* LAT: 40 */ { 4222, 4218, 4281, 4402, 4568, 4754, 4937, 5093, 5197, 5223, 5155, 5008, 4823, 4651, 4525, 4451, 4427, 4451, 4513, 4593, 4680, 4778, 4893, 5027, 5178, 5341, 5493, 5602, 5640, 5584, 5427, 5188, 4914, 4655, 4444, 4298, 4222, },
|
||||
/* LAT: 50 */ { 4832, 4822, 4875, 4982, 5127, 5286, 5435, 5557, 5631, 5641, 5579, 5453, 5292, 5130, 4994, 4898, 4845, 4834, 4860, 4911, 4981, 5073, 5192, 5343, 5519, 5703, 5869, 5986, 6028, 5982, 5850, 5655, 5431, 5216, 5036, 4905, 4832, },
|
||||
/* LAT: 60 */ { 5393, 5377, 5402, 5463, 5547, 5641, 5728, 5795, 5830, 5822, 5770, 5677, 5557, 5430, 5312, 5217, 5152, 5119, 5117, 5146, 5203, 5290, 5408, 5556, 5722, 5890, 6037, 6139, 6182, 6159, 6076, 5950, 5805, 5663, 5541, 5448, 5393, },
|
||||
/* LAT: 70 */ { 5726, 5704, 5699, 5709, 5731, 5757, 5781, 5796, 5797, 5779, 5741, 5685, 5616, 5540, 5467, 5404, 5357, 5329, 5325, 5345, 5391, 5461, 5553, 5661, 5778, 5892, 5991, 6063, 6101, 6104, 6075, 6022, 5955, 5885, 5819, 5765, 5726, },
|
||||
/* LAT: 80 */ { 5790, 5772, 5756, 5744, 5733, 5724, 5714, 5703, 5688, 5671, 5649, 5625, 5598, 5572, 5547, 5528, 5514, 5510, 5515, 5530, 5556, 5591, 5634, 5682, 5732, 5780, 5822, 5856, 5880, 5893, 5895, 5888, 5873, 5854, 5832, 5810, 5790, },
|
||||
/* LAT: 90 */ { 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, },
|
||||
/* LAT: -90 */ { 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, 5443, },
|
||||
/* LAT: -80 */ { 6050, 5986, 5906, 5813, 5710, 5598, 5479, 5358, 5235, 5115, 5001, 4896, 4803, 4724, 4661, 4616, 4593, 4591, 4613, 4660, 4731, 4825, 4941, 5073, 5217, 5367, 5517, 5661, 5792, 5905, 5997, 6066, 6110, 6128, 6124, 6097, 6050, },
|
||||
/* LAT: -70 */ { 6295, 6160, 6008, 5842, 5663, 5470, 5265, 5050, 4831, 4616, 4414, 4232, 4075, 3945, 3841, 3765, 3719, 3707, 3736, 3814, 3943, 4125, 4354, 4623, 4919, 5227, 5531, 5815, 6064, 6268, 6418, 6513, 6553, 6544, 6494, 6408, 6295, },
|
||||
/* LAT: -60 */ { 6180, 5987, 5783, 5573, 5353, 5118, 4861, 4583, 4291, 4002, 3736, 3510, 3331, 3198, 3099, 3026, 2975, 2955, 2982, 3074, 3245, 3499, 3828, 4216, 4640, 5074, 5495, 5879, 6203, 6451, 6613, 6690, 6691, 6626, 6511, 6358, 6180, },
|
||||
/* LAT: -50 */ { 5839, 5607, 5374, 5142, 4908, 4663, 4392, 4088, 3759, 3428, 3127, 2889, 2729, 2639, 2591, 2556, 2521, 2494, 2499, 2573, 2750, 3045, 3445, 3919, 4427, 4933, 5407, 5825, 6163, 6403, 6540, 6579, 6535, 6423, 6260, 6060, 5839, },
|
||||
/* LAT: -40 */ { 5390, 5142, 4896, 4655, 4420, 4182, 3927, 3642, 3328, 3003, 2705, 2484, 2369, 2345, 2364, 2383, 2386, 2372, 2358, 2389, 2523, 2805, 3229, 3747, 4294, 4817, 5282, 5668, 5959, 6146, 6233, 6234, 6163, 6031, 5849, 5630, 5390, },
|
||||
/* LAT: -30 */ { 4876, 4634, 4393, 4158, 3931, 3712, 3492, 3261, 3005, 2729, 2472, 2292, 2224, 2251, 2317, 2388, 2451, 2499, 2518, 2529, 2601, 2807, 3177, 3670, 4203, 4698, 5113, 5426, 5627, 5726, 5752, 5724, 5644, 5511, 5331, 5113, 4876, },
|
||||
/* LAT: -20 */ { 4320, 4105, 3895, 3690, 3493, 3310, 3141, 2977, 2799, 2600, 2409, 2277, 2240, 2286, 2376, 2487, 2614, 2740, 2824, 2857, 2883, 2985, 3233, 3623, 4075, 4501, 4846, 5077, 5179, 5186, 5156, 5109, 5027, 4899, 4732, 4534, 4320, },
|
||||
/* LAT: -10 */ { 3789, 3627, 3473, 3326, 3190, 3070, 2966, 2873, 2774, 2658, 2536, 2438, 2396, 2424, 2513, 2643, 2798, 2955, 3075, 3134, 3148, 3178, 3307, 3564, 3893, 4215, 4477, 4636, 4669, 4616, 4548, 4485, 4397, 4273, 4123, 3958, 3789, },
|
||||
/* LAT: 0 */ { 3412, 3318, 3233, 3159, 3104, 3065, 3038, 3018, 2991, 2942, 2863, 2769, 2691, 2664, 2710, 2814, 2947, 3081, 3194, 3267, 3297, 3320, 3398, 3560, 3771, 3985, 4164, 4268, 4271, 4203, 4115, 4023, 3912, 3780, 3646, 3521, 3412, },
|
||||
/* LAT: 10 */ { 3282, 3250, 3229, 3224, 3248, 3295, 3349, 3400, 3433, 3422, 3353, 3239, 3114, 3023, 3000, 3044, 3126, 3225, 3325, 3409, 3472, 3535, 3625, 3746, 3883, 4023, 4142, 4211, 4211, 4148, 4038, 3894, 3732, 3573, 3437, 3339, 3282, },
|
||||
/* LAT: 20 */ { 3399, 3400, 3425, 3478, 3569, 3689, 3816, 3931, 4011, 4022, 3948, 3807, 3642, 3505, 3433, 3423, 3460, 3534, 3632, 3729, 3821, 3920, 4032, 4144, 4255, 4368, 4471, 4536, 4545, 4485, 4346, 4143, 3915, 3705, 3541, 3439, 3399, },
|
||||
/* LAT: 30 */ { 3722, 3727, 3779, 3877, 4018, 4188, 4362, 4517, 4624, 4650, 4577, 4423, 4236, 4075, 3973, 3929, 3935, 3988, 4076, 4175, 4274, 4381, 4498, 4616, 4736, 4864, 4986, 5072, 5097, 5037, 4879, 4638, 4363, 4108, 3908, 3779, 3722, },
|
||||
/* LAT: 40 */ { 4222, 4217, 4279, 4400, 4565, 4751, 4934, 5090, 5194, 5220, 5152, 5005, 4821, 4650, 4524, 4451, 4427, 4452, 4514, 4595, 4682, 4780, 4896, 5029, 5181, 5344, 5496, 5605, 5642, 5585, 5428, 5189, 4915, 4656, 4445, 4298, 4222, },
|
||||
/* LAT: 50 */ { 4832, 4821, 4873, 4980, 5124, 5283, 5432, 5554, 5628, 5638, 5576, 5451, 5290, 5129, 4993, 4898, 4845, 4835, 4861, 4913, 4983, 5075, 5195, 5345, 5521, 5706, 5871, 5988, 6029, 5983, 5851, 5655, 5432, 5217, 5037, 4906, 4832, },
|
||||
/* LAT: 60 */ { 5393, 5376, 5401, 5460, 5544, 5638, 5726, 5793, 5828, 5821, 5768, 5676, 5557, 5430, 5312, 5217, 5152, 5119, 5119, 5147, 5204, 5292, 5410, 5558, 5725, 5893, 6039, 6141, 6183, 6159, 6076, 5951, 5806, 5665, 5542, 5449, 5393, },
|
||||
/* LAT: 70 */ { 5726, 5703, 5698, 5708, 5729, 5754, 5779, 5794, 5795, 5778, 5740, 5685, 5616, 5541, 5468, 5405, 5358, 5331, 5326, 5347, 5392, 5462, 5554, 5663, 5780, 5894, 5992, 6064, 6102, 6105, 6076, 6023, 5956, 5886, 5820, 5766, 5726, },
|
||||
/* LAT: 80 */ { 5790, 5772, 5756, 5743, 5733, 5723, 5714, 5702, 5688, 5670, 5649, 5625, 5599, 5572, 5548, 5528, 5515, 5511, 5516, 5531, 5557, 5593, 5636, 5684, 5733, 5781, 5823, 5857, 5881, 5894, 5896, 5889, 5874, 5855, 5833, 5811, 5790, },
|
||||
/* LAT: 90 */ { 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, 5685, },
|
||||
};
|
||||
static constexpr float WMM_STRENGTH_MIN_GS = 22.2; // latitude: -30, longitude: -60
|
||||
static constexpr float WMM_STRENGTH_MAX_GS = 66.9; // latitude: -60, longitude: 140
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
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File diff suppressed because it is too large
Load Diff
@@ -100,7 +100,7 @@ TEST_F(EkfMagTest, fusionStartWithReset)
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float mag_incl = asinf(mag_earth(2) / fmaxf(mag_earth.norm(), 1e-4f));
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float mag_incl_wmm_deg = 0.f;
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_ekf->get_mag_inc_deg(mag_incl_wmm_deg);
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EXPECT_NEAR(degrees(mag_incl), mag_incl_wmm_deg, 1e-6f);
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EXPECT_NEAR(degrees(mag_incl), mag_incl_wmm_deg, 1e-5f);
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}
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TEST_F(EkfMagTest, noInitLargeStrength)
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